，建立车体6个自由度加上前轮转向系统1个自由度的汽车数学模型；该汽车数学模型不需引入很多的人为假设；可以实现给定汽汽车前轮转角，也可以不给定前轮转角；不依赖需要复杂测定的侧向力函数及相关模型参数；考虑了轮胎的滚动特性 已通过测试。 -Vehicle mathematical model of one degree of freedom, the establishment of the body' s six degrees of freedom coupled with front-

包含魔术公式侧向力，纵向力，回正力矩仿真模型，同时包含对应的s函数模型，对初学者帮助极大-Magic formula that contains the lateral force, longitudinal force, aligning torque simulation model contains the corresponding s function model, a great help for beginners

基于魔术公式建立了一个车辆轮胎的模型，对轮胎的滑移率、侧向力等进行了matlab仿真(A model of a vehicle tire was established based on the magic formula, and a matlab simulation was performed on the slip ratio and lateral force of the tire.)